Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects

doi:10.1109/TASE.2019.2921224

CASIA OpenIR > 中国科学院工业视觉智能装备工程实验室 > 精密感知与控制

	Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects
	Liu, Song 1; Li, You-Fu 2; Xing, Dengpeng3
发表期刊	IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
ISSN	1545-5955
	2020
卷号	17 期号:1 页码:310-324
通讯作者	Li, You-Fu(meyfli@cityu.edu.hk)
摘要	The problem of simultaneous precision assembly of multiple objects is quite practical one to form compact physical structures and functionalities in mechatronics and advanced robotics. The core research aspects facing the problem are the contact status perception between each two object and the motion planning of each separate object. These two aspects mutually affect each other and cannot be discussed separately. In this paper, we first strategically discuss the possible approaches to solve the simultaneous assembly problem and analyze their advantages and drawbacks. Then, a probabilistic control method is developed based on the incomplete perceived information of the assembly process, which can achieve the highest assembly efficiency from the strategic perspective. Specifically, by fully utilizing the mechanical properties of materials in micrometer scale, the interaction between objects is first characterized as stochastic state-transition process. Second, adopting the simultaneous feeding strategy instead of serial feeding, the current contact status between each two object is determined based on the state-transition equation as a probability distribution along a hyperline. Finally, the motion planning technique is designed taking all possible radial forces on every contact surface into consideration. The experimental results demonstrate the effectiveness of the proposed method. Note to Practitioners-This paper is motivated to develop an automatic control method to realize the 3-D simultaneous assembly of multiple objects under simultaneous feeding scheme, which can strategically achieve the highest efficiency compared with the serial feeding scheme. The peg-hole fitting is modeled as a stochastic state-transition process, which needs to be pretrained with experience offline. In practical task, the multiple objects are first aligned in 3-D space in six degrees of freedom (DOFs) based on the microscopic vision. Then, the contact states on the multiple contacting surfaces during the assembly process are described as multivariate Gaussian probabilistic distribution. Finally, the motions of each object are planned based on the state-transition confidence and will be evaluated once taken. Motions may be withdrawn if the confidence is unacceptable, while action withdrawing rate is a critical assessment factor of the proposed method.
关键词	Multiple objects precision assembly probabilistic approach simultaneous assembly
DOI	10.1109/TASE.2019.2921224
收录类别	SCI
语种	英语
资助项目	Research Grants Council of Hong Kong[CityU11255716] ; Research Grants Council of Hong Kong[CityU11205015] ; Research Grants Council of Hong Kong[CityU11205015] ; Research Grants Council of Hong Kong[CityU11255716]
项目资助者	Research Grants Council of Hong Kong
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000507640900024
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：19[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/29546
专题	中国科学院工业视觉智能装备工程实验室_精密感知与控制
通讯作者	Li, You-Fu
作者单位	1.Univ Southern Calif, Dept Elect Engn Electrophys, Los Angeles, CA 90089 USA 2.City Univ Hong Kong, Dept Mech Engn, Hong Kong, Peoples R China 3.Chinese Acad Sci, Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Liu, Song,Li, You-Fu,Xing, Dengpeng. Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects[J]. IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,2020,17(1):310-324.
APA	Liu, Song,Li, You-Fu,&Xing, Dengpeng.(2020).Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects.IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING,17(1),310-324.
MLA	Liu, Song,et al."Sensing and Control for Simultaneous Precision Peg-in-Hole Assembly of Multiple Objects".IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 17.1(2020):310-324.